Intelligent palletizing industrial robot

Abstract

The present application relates to the field of industrial automation equipment, and more particularly to a kind of intelligent stacking industrial robot, the intelligent stacking industrial robot includes: fixed base, fixed base top horizontal rotation connection rotating base, rotating base top is provided with mechanical arm, mechanical arm end bottom fixed connection mounting disc, mounting disc bottom fixed connection first connecting shaft, first connecting shaft bottom end rotation connection rotating disc, rotating disc bottom is equipped with suction disc assembly, inside is equipped with driving assembly.Suction disc assembly includes mutually perpendicular first suction disc and second suction disc, driving assembly can drive suction disc assembly rotate 90 degrees around horizontal axis, simultaneously drive rotating disc rotate 180 degrees around vertical axis.The intelligent stacking industrial robot provided by the present application has the advantages of being adaptable to abnormal posture material, synchronous completion of grasping and posture adjustment, double adsorption to prevent material from falling, and avoiding stacking interference, which can guarantee the continuity of stacking, reduce safety hazards and adapt to unmanned operation requirements.

Description

Technical Field

[0001] This invention relates to the field of industrial automation equipment, and more particularly to an intelligent palletizing industrial robot. Background Technology

[0002] Intelligent palletizing industrial robots are automated industrial equipment integrating mechanical transmission, intelligent control, and sensing technologies. They are widely used in warehousing and logistics, food and beverage, chemical building materials, grain processing, and other industries. They are primarily used to automatically grasp, transport, and stack materials in different forms, such as bags, boxes, drums, and bottles, according to preset palletizing rules. Compared to traditional manual palletizing operations, intelligent palletizing industrial robots can operate continuously 24 hours a day, significantly improving the efficiency and stability of palletizing operations, effectively reducing the intensity of manual labor, avoiding the safety risks associated with high-intensity repetitive manual work, and ensuring the regularity and consistency of palletized stacks. They are core equipment in modern automated production lines and intelligent warehousing and logistics systems.

[0003] In existing technologies, the end effectors of intelligent palletizing industrial robots mostly use suction cup or gripper components with fixed orientations, which can only stably grasp and stack materials with preset placement postures. In actual continuous production scenarios, the materials to be palletized (which only need to be top-up) conveyed by the upstream conveyor line often exhibit abnormal postures such as tilting or falling over due to factors such as conveyor vibration, material deviation, and equipment start-up and shutdown. In this case, the grasping surface of the tilted material is perpendicular to the suction or gripping surface of the robot's end effector. The end effectors of existing palletizing robots cannot quickly adjust their grasping posture to adapt to materials with abnormal postures, nor can they simultaneously complete the straightening and posture adjustment of the material during the grasping process. For materials in such abnormal positions, existing production lines often need to stop operations and manually straighten the tilted materials before the robot can continue the palletizing operation. This process seriously disrupts the continuity of palletizing operations and significantly reduces the overall automation level and palletizing efficiency of the production line. At the same time, frequent manual intervention in automated production line operations also poses a high risk to personal safety and cannot meet the needs of modern intelligent production lines for unmanned, fully automated, and continuous operation.

[0004] Therefore, it is necessary to provide a new intelligent palletizing industrial robot to solve the above-mentioned technical problems. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides an intelligent palletizing industrial robot.

[0006] The intelligent palletizing industrial robot provided by the present invention includes: a fixed base, a rotating base horizontally rotatably connected to the top of the fixed base, a robotic arm disposed on the top of the rotating base, a mounting plate fixedly connected to the bottom of the end of the robotic arm away from the rotating base, a first connecting shaft fixedly connected to the bottom of the mounting plate, a rotating disk rotatably connected to the bottom of the first connecting shaft, a suction cup assembly disposed at the bottom of the rotating disk, the suction cup assembly being used to adsorb the material to be palletized; a driving assembly disposed inside the rotating disk, the driving assembly being used to drive the suction cup assembly to rotate 90 degrees around the horizontal axis in the vertical plane, and simultaneously drive the rotating disk to rotate 180 degrees relative to the mounting plate around the vertical axis in the horizontal plane.

[0007] Preferably, the suction cup assembly includes: a first suction cup and a second suction cup, both of which are disposed at the bottom of the rotating disk, and the adsorption surfaces of the first and second suction cups are perpendicular to each other; a fan-shaped connecting block is disposed at one end of the first and second suction cups that are close to each other, and the two planar sidewalls of the fan-shaped connecting block are fixedly connected to the first and second suction cups respectively.

[0008] Preferably, the second connecting block is fixedly connected to the outer side wall of the first suction cup, the second suction cup, and the fan-shaped connecting block, and the outer side wall of the second connecting block is an arc shape coaxial with the arc-shaped side wall of the fan-shaped connecting block.

[0009] Preferably, the bottom of the rotating disk is provided with an arc-shaped groove coaxial with the outer side wall of the second connecting block, and the outer side wall of the second connecting block is fixedly connected with a sliding plate that slides in cooperation with the arc-shaped groove. The sliding plate is an arc-shaped plate coaxial with the groove.

[0010] Preferably, the bottom surface of the rotating disk is an arc-shaped surface, and the diameter of the bottom surface of the rotating disk is equal to the diameter of the arc-shaped sidewall of the fan-shaped connecting block.

[0011] Preferably, the drive assembly includes: a first gear, a first tooth groove is provided inside the rotating disk, and the first gear rotates around a horizontal axis inside the first tooth groove; an arc-shaped rack coaxial with the sliding plate is fixedly connected to the middle of the top surface of the sliding plate, a second tooth groove is provided at the middle of the bottom end of the rotating disk, and the arc-shaped rack slides in the second tooth groove; the arc-shaped rack meshes with the first gear for transmission.

[0012] Preferably, the drive assembly further includes: a second gear; a third tooth groove is provided inside the rotating disk; the second gear is rotatably connected inside the third tooth groove about a horizontal axis coaxial with the first gear; a fourth tooth groove is provided inside the rotating disk; the fourth tooth groove is horizontally connected to the gear disk about a vertical axis; the second gear meshes with the gear disk for transmission; and the middle part of the top surface of the gear disk is coaxially fixedly connected to the first connecting shaft.

[0013] Preferably, a second connecting shaft is provided between the first gear and the second gear, and the two ends of the second connecting shaft are coaxially and fixedly connected to the corresponding first gear and second gear, respectively.

[0014] Preferably, the ratio of the pitch circle radius of the first gear to the pitch circle radius of the arc rack is 1:8, that is, the first gear can drive the arc rack to rotate 90 degrees around the horizontal axis after rotating two revolutions; the ratio of the pitch circle diameter of the second gear to the pitch circle diameter of the gear disk is 1:4, that is, the second gear can drive the rotating disk to rotate 180 degrees relative to the gear disk around the vertical axis after rotating two revolutions.

[0015] Preferably, a drive motor is fixedly installed inside the rotating disk, and the output end of the drive motor is coaxially and fixedly connected to the first gear.

[0016] Compared with related technologies, the intelligent palletizing industrial robot provided by this invention has the following beneficial effects: This invention, through a structural design where the first and second suction cups are perpendicular to each other, combined with the synchronous posture adjustment function of the drive component, can directly grasp materials with abnormal postures and simultaneously complete posture adjustment without interrupting the work process. Specifically, the second suction cup can accurately adsorb the vertical gripping surface of sideways materials, while the first suction cup simultaneously assists in adsorption. In conjunction with the drive component, the suction cup assembly is driven to vertically straighten the material by 90 degrees, and the rotating disk rotates 180 degrees horizontally. This achieves simultaneous grasping, straightening, and orientation adjustment of materials with abnormal postures, solving the problem of work interruption caused by manual intervention, ensuring the continuity of palletizing operations, and significantly improving production line efficiency.

[0017] This invention overcomes the design flaws of existing single-suction-cup adsorption systems by using a fan-shaped connecting block to fix the first and second suction cups into a single rigid structure. During the grasping of materials with abnormal postures and subsequent tilting, adjustment, and rotation, the two suction cups maintain consistent adhesion, forming a double negative pressure fixation. The negative pressure control system simultaneously provides stable negative pressure to both suction cups. This dual adsorption force effectively counteracts the material's gravity and tilting inertia, preventing slippage and drop during adjustment and handling. This significantly improves the stability of material grasping and adjustment, reduces material damage rates, and minimizes production losses.

[0018] This invention uses a second connecting shaft to coaxially fix the first and second gears, achieving strict synchronous linkage between the 90-degree vertical alignment adjustment of the suction cup assembly and the 180-degree horizontal rotation adjustment of the rotating disk. Furthermore, by precisely setting the transmission ratio (1:8 between the first gear and the arc-shaped rack, and 1:4 between the second gear and the gear disk), the adjustment angle is ensured to be precise and controllable. The 180-degree rotation of the rotating disk relative to the gear disk effectively prevents the first suction cup from interfering with or obstructing material placement during palletizing, ensuring smooth material placement. Simultaneously, synchronous adjustment ensures that the orientation of the material after alignment perfectly matches the preset pallet shape requirements, preventing placement deviations caused by asynchronous adjustment, guaranteeing the regularity and consistency of the pallet shape, and improving placement accuracy.

[0019] This invention eliminates the need for manual intervention in the straightening of materials with abnormal postures. Through the synchronous linkage design of the mechanical structure, it achieves fully automated completion of the entire process from grasping and adjusting the posture of materials with abnormal postures to stacking. This completely solves the safety hazards caused by frequent manual intervention in automated production lines in existing technologies, reduces the intensity of manual labor, and avoids the safety risks of high-intensity repetitive manual work. Simultaneously, it can handle abnormal materials without stopping the production line, significantly improving palletizing efficiency and the overall automation level of the production line. It is fully compatible with the needs of modern intelligent production lines for unmanned, fully automated, and continuous operation, providing strong support for enterprises to reduce labor costs and improve production efficiency. Attached Figure Description

[0020] Figure 1 This is a structural schematic diagram of the intelligent palletizing industrial robot provided by the present invention; Figure 2 for Figure 1 The diagram shows the structure of the installation disk. Figure 3 for Figure 2 One of the structural schematic diagrams of the rotating disk's cross-section is shown; Figure 4 for Figure 3 The diagram shows the structure of the chute. Figure 5 for Figure 3 One of the structural schematic diagrams of the rotating disk's cross-section is shown; Figure 6 for Figure 5 The diagram shows the structure of the first suction cup. Figure 7 for Figure 1 The diagram shows the structure when the rotating disk has rotated halfway.

[0021] The following are the labeling elements in the diagram: 1. Fixed base; 2. Rotating base; 3. Mechanical wall; 4. Mounting plate; 5. Rotating plate; 6. First suction cup; 7. Second suction cup; 8. Fan-shaped connecting block; 9. Second connecting block; 10. Slide groove; 11. Slide plate; 12. First tooth groove; 13. First gear; 14. Second tooth groove; 15. Arc-shaped rack; 16. Third tooth groove; 17. Second gear; 18. Fourth tooth groove; 19. Gear plate; 20. First connecting shaft; 21. Second connecting shaft; 22. Drive motor. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for explaining the invention and are not intended to limit the invention.

[0023] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0024] like Figures 1 to 7 As shown, an intelligent palletizing industrial robot includes: a fixed base 1, a rotating base 2 horizontally rotatably connected to the top of the fixed base 1, a robotic arm mounted on the top of the rotating base 2, a mounting plate 4 fixedly connected to the bottom of the end of the robotic arm away from the rotating base 2, a first connecting shaft 20 fixedly connected to the bottom of the mounting plate 4, a rotating disk 5 rotatably connected to the bottom of the first connecting shaft 20, a suction cup assembly mounted on the bottom of the rotating disk 5 for adsorbing the material to be palletized; and a driving assembly inside the rotating disk 5 for driving the suction cup assembly to rotate 90 degrees around the horizontal axis in a vertical plane, and simultaneously driving the rotating disk 5 to rotate 180 degrees relative to the mounting plate 4 around the vertical axis in a horizontal plane.

[0025] It should be noted that the robotic arm adopts a multi-joint serial industrial robotic arm structure, which can achieve precise spatial position control through the built-in servo drive system (an existing mature structure), driving the suction cup component at the end to complete multi-dimensional movements such as translation, lifting, and pitching in space, meeting the material grabbing and stacking needs of different heights, different stack types, and different conveying stations. This intelligent palletizing industrial robot is equipped with an external detector to detect whether the material is tipping over. This detector is electrically connected to the drive assembly.

[0026] like Figures 2 to 6 As shown, the suction cup assembly includes a first suction cup 6 and a second suction cup. Both the first suction cup 6 and the second suction cup are disposed at the bottom of the rotating disk 5, and the adsorption surfaces of the first suction cup 6 and the second suction cup are perpendicular to each other. A fan-shaped connecting block 8 is disposed at one end of the first suction cup 6 and the second suction cup, respectively, and the two planar sidewalls of the fan-shaped connecting block 8 are fixedly connected to the first suction cup 6 and the second suction cup. A second connecting block 9 is fixedly connected to the outer sidewall of the first suction cup 6, the second suction cup, and the fan-shaped connecting block 8. The outer sidewall of the second connecting block 9 is an arc shape coaxial with the arc sidewall of the fan-shaped connecting block 8. An arc-shaped groove 10 coaxial with the outer sidewall of the second connecting block 9 is provided at the bottom of the rotating disk 5. A sliding plate 11 that slides with the arc-shaped groove 10 is fixedly connected to the outer sidewall of the second connecting block 9. The sliding plate 11 is an arc-shaped plate coaxial with the groove 10. The bottom surface of the rotating disk 5 is an arc-shaped surface, and the diameter of the bottom surface of the rotating disk 5 is equal to the diameter of the arc sidewall of the fan-shaped connecting block 8.

[0027] It should be noted that the sector-shaped connecting block 8 is a sector-shaped rigid metal block with a central angle of 90 degrees. The two mutually perpendicular planar sidewalls of the sector-shaped connecting block 8 are respectively fixedly connected to the rigid mounting base of the first suction cup 6 and the rigid mounting base of the second suction cup by bolts. In this way, the first suction cup 6 and the second suction cup are fixed into an integral rigid structure, ensuring the synchronization of movement and structural rigidity of the two suction cups during the posture adjustment process, and avoiding relative displacement during the posture adjustment process that could cause the material to fall off.

[0028] like Figures 3 to 5 As shown, the drive assembly includes: a first gear 13; a first toothed groove 12 is formed inside the rotating disk 5, and the first gear 13 rotates around a horizontal axis inside the first toothed groove 12; an arc-shaped rack 15 coaxial with the sliding plate 11 is fixedly connected to the center of the top surface of the sliding plate 11; a second toothed groove 14 is formed at the center of the bottom end of the rotating disk 5, and the arc-shaped rack 15 slides within the second toothed groove 14; the arc-shaped rack 15 meshes with the first gear 13 for transmission. The drive assembly also includes: a second gear 17; a third toothed groove 16 is formed inside the rotating disk 5, and the second gear 17 is rotatably connected inside the third toothed groove 16 around a horizontal axis coaxial with the first gear 13; a fourth toothed groove 18 is formed inside the rotating disk 5, and a gear disk 19 is horizontally rotatably connected inside the fourth toothed groove 18 around a vertical axis; the second gear 17 meshes with the gear disk 19 for transmission; the center of the top surface of the gear disk 19 is coaxially fixedly connected to the first connecting shaft 20. A second connecting shaft 21 is provided between the first gear 13 and the second gear 17. Both ends of the second connecting shaft 21 are coaxially and fixedly connected to the corresponding first gear 13 and second gear 17, respectively. The ratio of the pitch circle radius of the first gear 13 to the pitch circle radius of the arc-shaped rack is 1:8, meaning that two rotations of the first gear 13 can drive the arc-shaped rack 15 to rotate 90 degrees around the horizontal axis. The ratio of the pitch circle diameter of the second gear 17 to the pitch circle diameter of the gear disk 19 is 1:4, meaning that two rotations of the second gear 17 can drive the rotating disk 5 to rotate 180 degrees relative to the gear disk 19 around the vertical axis. A drive motor 22 is fixedly installed inside the rotating disk 5, and the output end of the drive motor 22 is coaxially and fixedly connected to the first gear 13.

[0029] It should be noted that the drive motor 22 is a high-precision servo geared motor that can rotate in both directions, which can accurately control the rotation angle, speed and direction of the output shaft. The body of the drive motor 22 is fixed to the rotating disk 5, and the output end of the drive motor 22 is coaxially and fixedly connected to the first gear 13 to provide controllable power input for the entire drive assembly. By controlling the forward and reverse rotation and the number of rotations of the drive motor 22, the attitude adjustment angle and reset action of the suction cup assembly can be accurately controlled.

[0030] The working principle of the intelligent palletizing industrial robot provided by this invention is as follows: During routine palletizing operations, the fixed base 1 provides a stable mounting foundation for the entire robot. Rotating the base 2 can drive the robotic arm to rotate horizontally around the vertical axis. In conjunction with the multi-degree-of-freedom spatial movement of the robotic arm, the suction cup component at the end can be precisely moved to the top or side of the material to be palletized, completing the stable gripping operation of the material. The gripped material is then transported to the preset palletizing station and stacked according to the preset palletizing pattern.

[0031] When the material to be palletized conveyed by the upstream conveyor line is in a normal horizontal position, the surface of the material to be gripped is horizontal and parallel to the initial adsorption surface of the first suction cup 6. At this time, the robot's control system controls the robotic arm to move the suction cup assembly to directly above the material, so that the adsorption surface of the first suction cup 6 is completely in contact with the top surface of the material. The matching negative pressure control system provides a stable negative pressure for the first suction cup 6. The first suction cup 6 stably grips the material through the negative pressure adsorption force. Then, the robotic arm moves the gripped material to the preset palletizing station. The negative pressure control system cuts off the negative pressure of the first suction cup 6, the first suction cup 6 releases the material, and the material is accurately placed in the preset position, completing a single normal palletizing operation.

[0032] When the material to be palletized conveyed by the upstream conveyor line exhibits abnormal posture such as tilting or overturning due to factors such as conveyor vibration, material deviation, or equipment start-up and shutdown, the surface of the material to be gripped is vertical and parallel to the initial adsorption surface of the second suction cup. At this time, the robot's control system controls the robotic arm to move the suction cup assembly to the side of the material, so that the adsorption surface of the second suction cup is completely in contact with the vertical surface of the material to be gripped. The matching negative pressure control system simultaneously provides stable negative pressure to the second suction cup and the first suction cup 6, so that the first suction cup 6 and the second suction cup jointly adsorb the material and form a double fixation to prevent the material from falling off during subsequent flipping. At this time, the second suction cup mainly adsorbs the vertical surface of the material to be gripped, while the first suction cup 6 assists in adsorbing the corresponding surface of the material. The two work together to complete the stable gripping of the material with abnormal tilting posture.

[0033] While the second suction cup completes the material gripping, the drive motor 22 inside the rotating disk 5 starts. The output shaft of the drive motor 22 drives the first gear 13 to rotate around the horizontal axis. The first gear 13 drives the second gear 17 to rotate synchronously and coaxially through the second connecting shaft 21, realizing the synchronous splitting output of power.

[0034] During the rotation of the first gear 13, the first gear 13 and the arc-shaped rack 15 maintain meshing transmission, driving the arc-shaped rack 15 to slide in a directional manner along its own arc trajectory. The arc-shaped rack 15 drives the second connecting block 9 to slide synchronously along the arc-shaped groove 10 at the bottom of the rotating disk 5 through the slide plate 11. Then, through the second connecting block 9 and the fan-shaped connecting block 8, the suction cup assembly composed of the first suction cup 6 and the second suction cup is driven to perform directional rotational motion around the horizontal axis on the vertical plane. During this flipping and adjustment process, the first suction cup 6 and the second suction cup always maintain a joint adsorption state. The dual adsorption force firmly fixes the material, preventing it from slipping or falling due to gravity and inertia, thus ensuring the stability of the adjustment process. With the preset 1:8 transmission ratio setting, when the first gear 13 rotates two revolutions, it can drive the entire suction cup assembly to rotate precisely 90 degrees around the horizontal axis. At this time, the second suction cup, which was originally adsorbing the material vertically, rotates back to a horizontal state with the suction cup assembly, completely straightening the material that was originally tilted to a horizontal position, and simultaneously completing the vertical straightening and adjustment operation of the material.

[0035] During the synchronous rotation of the second gear 17 and the first gear 13, the second gear 17 maintains meshing transmission with the gear disk 19. Since the gear disk 19 is fixedly connected to the first connecting shaft 20 and the mounting disk 4, it remains relatively stationary during operation. Therefore, the rotating second gear 17 will make a directional revolution along the circumference of the gear disk 19, thereby driving the entire rotating disk 5 to make a directional rotation relative to the mounting disk 4 on the horizontal plane around the vertical axis of the first connecting shaft 20. During this process, the first suction cup 6 and the second suction cup still maintain joint adsorption and cooperation, continuously and stably fixing the material and preventing the material from falling. With the preset 1:4 transmission ratio setting, when the second gear 17 rotates synchronously for two revolutions, it can drive the rotating disk 5 to rotate precisely 180 degrees relative to the gear disk 19 around the vertical axis. This drives the suction cup assembly and the gripped material to complete a 180-degree rotation and orientation adjustment in the horizontal plane synchronously, so that the placement orientation of the material completely meets the preset stacking requirements. At the same time, it can avoid the first suction cup 6 interfering with or obstructing the material placement during the stacking process, ensuring smooth stacking operation.

[0036] Through the above-described mechanical transmission structure design, this invention achieves strict synchronous linkage between the 90-degree vertical orientation adjustment of the suction cup assembly and the 180-degree horizontal orientation adjustment of the rotating disk 5. This allows for simultaneous uprighting and orientation adjustment of materials in abnormal tilted positions while simultaneously gripping such materials, without interrupting production line operations or requiring manual intervention to straighten the materials. This completely solves the problems of existing palletizing robots being unable to adapt to materials in abnormal positions, requiring manual intervention leading to poor operational continuity, low efficiency, and safety hazards. It significantly improves palletizing efficiency and the overall automation level of the production line, fully meeting the requirements of unmanned, fully automated, and continuous operation in modern intelligent production lines.

[0037] After the material stacking operation is completed, the drive motor 22 rotates in the reverse direction, driving the first gear 13 and the second gear 17 to rotate synchronously in the opposite direction, thereby driving the suction cup assembly to rotate 90 degrees in the reverse direction to reset, and at the same time driving the rotating disk 5 to rotate 180 degrees in the reverse direction to reset, so that the entire end effector returns to the initial working state and waits for the next material grabbing operation.

[0038] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An intelligent palletizing industrial robot, characterized in that, include: A fixed base (1) is horizontally rotatably connected to a rotating base (2) at the top of the fixed base (1). A mechanical arm is provided at the top of the rotating base (2). A mounting plate (4) is fixedly connected to the bottom of the end of the mechanical arm away from the rotating base (2). A first connecting shaft (20) is fixedly connected to the bottom of the mounting plate (4). A rotating disk (5) is rotatably connected to the bottom of the first connecting shaft (20). A suction cup assembly is provided at the bottom of the rotating disk (5). The suction cup assembly is used to adsorb the material to be stacked. A driving assembly is provided inside the rotating disk (5). The driving assembly is used to drive the suction cup assembly to rotate 90 degrees around the horizontal axis in the vertical plane. At the same time, it drives the rotating disk (5) to rotate 180 degrees synchronously around the vertical axis in the horizontal plane relative to the mounting plate (4).

2. The intelligent palletizing industrial robot according to claim 1, characterized in that, The suction cup assembly includes a first suction cup (6) and a second suction cup. Both the first suction cup (6) and the second suction cup are located at the bottom of the rotating disk (5), and the adsorption surface of the first suction cup (6) and the adsorption surface of the second suction cup are perpendicular to each other. A fan-shaped connecting block (8) is provided at one end of the first suction cup (6) and the second suction cup that are close to each other. The two planar sidewalls of the fan-shaped connecting block (8) are fixedly connected to the first suction cup (6) and the second suction cup respectively.

3. The intelligent palletizing industrial robot according to claim 2, characterized in that, The outer side wall of the first suction cup (6), the second suction cup and the fan-shaped connecting block (8) is fixedly connected to the second connecting block (9), and the outer side wall of the second connecting block (9) is an arc shape coaxial with the arc side wall of the fan-shaped connecting block (8).

4. The intelligent palletizing industrial robot according to claim 3, characterized in that, The bottom of the rotating disk (5) is provided with an arc-shaped groove (10) coaxial with the outer wall of the second connecting block (9). The outer wall of the second connecting block (9) is fixedly connected with a sliding plate (11) that slides with the arc-shaped groove (10). The sliding plate (11) is an arc-shaped plate coaxial with the groove (10).

5. The intelligent palletizing industrial robot according to claim 2, characterized in that, The bottom surface of the rotating disk (5) is an arc-shaped surface, and the diameter of the bottom surface of the rotating disk (5) is equal to the diameter of the arc-shaped sidewall of the fan-shaped connecting block (8).

6. The intelligent palletizing industrial robot according to claim 4, characterized in that, The drive assembly includes: a first gear (13), a first tooth groove (12) is provided inside the rotating disk (5), and the first gear (13) rotates around the horizontal axis inside the first tooth groove (12); an arc-shaped rack (15) coaxial with the sliding plate (11) is fixedly connected to the middle of the top surface of the sliding plate (11), and a second tooth groove (14) is provided at the middle of the bottom end of the rotating disk (5), and the arc-shaped rack (15) slides in the second tooth groove (14); the arc-shaped rack (15) meshes with the first gear (13) for transmission.

7. The intelligent palletizing industrial robot according to claim 6, characterized in that, The drive assembly also includes: a second gear (17); a third tooth groove (16) is provided inside the rotating disk (5); the second gear (17) is rotatably connected inside the third tooth groove (16) about a horizontal axis coaxial with the first gear (13); a fourth tooth groove (18) is provided inside the rotating disk (5); a gear disk (19) is rotatably connected inside the fourth tooth groove (18) about a vertical axis; the second gear (17) meshes with the gear disk (19) for transmission; the middle part of the top surface of the gear disk (19) is coaxially fixedly connected to the first connecting shaft (20).

8. The intelligent palletizing industrial robot according to claim 7, characterized in that, A second connecting shaft (21) is provided between the first gear (13) and the second gear (17). The two ends of the second connecting shaft (21) are coaxially fixedly connected to the corresponding first gear (13) and second gear (17).

9. The intelligent palletizing industrial robot according to claim 8, characterized in that, The ratio of the pitch circle radius of the first gear (13) to the pitch circle radius of the arc rack is 1:8, that is, when the first gear (13) rotates two revolutions, it can drive the arc rack (15) to rotate 90 degrees around the horizontal axis; the ratio of the pitch circle diameter of the second gear (17) to the pitch circle diameter of the gear disk (19) is 1:4, that is, when the second gear (17) rotates two revolutions, it can drive the rotating disk (5) to rotate 180 degrees relative to the gear disk (19) around the vertical axis.

10. The intelligent palletizing industrial robot according to claim 6, characterized in that, A drive motor (22) is fixedly installed inside the rotating disk (5), and the output end of the drive motor (22) is coaxially and fixedly connected to the first gear (13).

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